93 lines
3.5 KiB
Python
93 lines
3.5 KiB
Python
from cereal import log
|
|
from openpilot.common.realtime import DT_CTRL
|
|
from openpilot.selfdrive.selfdrived.state import StateMachine, SOFT_DISABLE_TIME
|
|
from openpilot.selfdrive.selfdrived.events import Events, ET, EVENTS, NormalPermanentAlert
|
|
|
|
State = log.SelfdriveState.OpenpilotState
|
|
|
|
# The event types that maintain the current state
|
|
MAINTAIN_STATES = {State.enabled: (None,), State.disabled: (None,), State.softDisabling: (ET.SOFT_DISABLE,),
|
|
State.preEnabled: (ET.PRE_ENABLE,), State.overriding: (ET.OVERRIDE_LATERAL, ET.OVERRIDE_LONGITUDINAL)}
|
|
ALL_STATES = tuple(State.schema.enumerants.values())
|
|
# The event types checked in DISABLED section of state machine
|
|
ENABLE_EVENT_TYPES = (ET.ENABLE, ET.PRE_ENABLE, ET.OVERRIDE_LATERAL, ET.OVERRIDE_LONGITUDINAL)
|
|
|
|
|
|
def make_event(event_types):
|
|
event = {}
|
|
for ev in event_types:
|
|
event[ev] = NormalPermanentAlert("alert")
|
|
EVENTS[0] = event
|
|
return 0
|
|
|
|
|
|
class TestStateMachine:
|
|
def setup_method(self):
|
|
self.events = Events()
|
|
self.state_machine = StateMachine()
|
|
self.state_machine.soft_disable_timer = int(SOFT_DISABLE_TIME / DT_CTRL)
|
|
|
|
def test_immediate_disable(self):
|
|
for state in ALL_STATES:
|
|
for et in MAINTAIN_STATES[state]:
|
|
self.events.add(make_event([et, ET.IMMEDIATE_DISABLE]))
|
|
self.state_machine.state = state
|
|
self.state_machine.update(self.events)
|
|
assert State.disabled == self.state_machine.state
|
|
self.events.clear()
|
|
|
|
def test_user_disable(self):
|
|
for state in ALL_STATES:
|
|
for et in MAINTAIN_STATES[state]:
|
|
self.events.add(make_event([et, ET.USER_DISABLE]))
|
|
self.state_machine.state = state
|
|
self.state_machine.update(self.events)
|
|
assert State.disabled == self.state_machine.state
|
|
self.events.clear()
|
|
|
|
def test_soft_disable(self):
|
|
for state in ALL_STATES:
|
|
if state == State.preEnabled: # preEnabled considers NO_ENTRY instead
|
|
continue
|
|
for et in MAINTAIN_STATES[state]:
|
|
self.events.add(make_event([et, ET.SOFT_DISABLE]))
|
|
self.state_machine.state = state
|
|
self.state_machine.update(self.events)
|
|
assert self.state_machine.state == State.disabled if state == State.disabled else State.softDisabling
|
|
self.events.clear()
|
|
|
|
def test_soft_disable_timer(self):
|
|
self.state_machine.state = State.enabled
|
|
self.events.add(make_event([ET.SOFT_DISABLE]))
|
|
self.state_machine.update(self.events)
|
|
for _ in range(int(SOFT_DISABLE_TIME / DT_CTRL)):
|
|
assert self.state_machine.state == State.softDisabling
|
|
self.state_machine.update(self.events)
|
|
|
|
assert self.state_machine.state == State.disabled
|
|
|
|
def test_no_entry(self):
|
|
# Make sure noEntry keeps us disabled
|
|
for et in ENABLE_EVENT_TYPES:
|
|
self.events.add(make_event([ET.NO_ENTRY, et]))
|
|
self.state_machine.update(self.events)
|
|
assert self.state_machine.state == State.disabled
|
|
self.events.clear()
|
|
|
|
def test_no_entry_pre_enable(self):
|
|
# preEnabled with noEntry event
|
|
self.state_machine.state = State.preEnabled
|
|
self.events.add(make_event([ET.NO_ENTRY, ET.PRE_ENABLE]))
|
|
self.state_machine.update(self.events)
|
|
assert self.state_machine.state == State.preEnabled
|
|
|
|
def test_maintain_states(self):
|
|
# Given current state's event type, we should maintain state
|
|
for state in ALL_STATES:
|
|
for et in MAINTAIN_STATES[state]:
|
|
self.state_machine.state = state
|
|
self.events.add(make_event([et]))
|
|
self.state_machine.update(self.events)
|
|
assert self.state_machine.state == state
|
|
self.events.clear()
|